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Timestamps aren't meant for most users

Showing friendly names such as 2 hours ago or yesterday can quickly provide context to the user as opposed to showing them 2015-01-27 18:54:03.259 Mixing both formats together will always cause friction (anything that forces a user to ask a question in their mind adss to cognitive friction). In almost all cases mixing them will do more harm than good.

Show friendly dates and times as needed, timestamps when requested

Depending on the situation timestamps should always be hidden until a user requests it (such as hovering the mouse over a displayed date/time)